CN110022099A - A kind of detection method and device of permanent magnet synchronous motor step-out - Google Patents

A kind of detection method and device of permanent magnet synchronous motor step-out Download PDF

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Publication number
CN110022099A
CN110022099A CN201910355059.5A CN201910355059A CN110022099A CN 110022099 A CN110022099 A CN 110022099A CN 201910355059 A CN201910355059 A CN 201910355059A CN 110022099 A CN110022099 A CN 110022099A
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CN
China
Prior art keywords
permanent magnet
magnet synchronous
synchronous motor
detection
voltage
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CN201910355059.5A
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Chinese (zh)
Inventor
张俊喜
李希志
王秋晨
张永雷
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青岛海信日立空调系统有限公司
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Priority to CN201910355059.5A priority Critical patent/CN110022099A/en
Publication of CN110022099A publication Critical patent/CN110022099A/en

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Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14Electronic commutators
    • H02P6/16Circuit arrangements for detecting position
    • H02P6/18Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings

Abstract

The embodiment of the invention discloses a kind of detection method and device of permanent magnet synchronous motor step-out, are related to air-conditioning technical field, solve the problems, such as not detecting step-out failure using position Sensorless Control mode.The specific scheme is that obtaining counter electromotive force using position Sensorless Control mode; the counter electromotive force is the rotor field voltage that cutting magnetic induction line generates in rotation of permanent magnet synchronous motor; computations voltage; command voltage is the voltage for inputting permanent magnet synchronous motor; according to counter electromotive force and command voltage; determine that step-out failure occurs for permanent magnet synchronous motor, control permanent magnet synchronous motor is shut down.The embodiment of the present invention is for detecting during whether permanent magnet synchronous motor occur step-out failure.

Description

A kind of detection method and device of permanent magnet synchronous motor step-out

Technical field

The present embodiments relate to the detection method of air-conditioning technical field more particularly to a kind of permanent magnet synchronous motor step-out and Device.

Background technique

Currently, DC frequency converting air-conditioner flies under the demand to high-quality air-conditioning of requirement and consumer of energy conservation and environmental protection policy Speed development, the core component of DC frequency converting air-conditioner is DC frequency-changeable compressor and DC frequency-changing blower.DC frequency-changeable compressor and The ontology of DC frequency-changing blower is permanent magnet synchronous motor, and permanent magnet synchronous motor has energy-efficient, noise compared with asynchronous machine The good characteristics such as low, smooth running.

And the normal operation of permanent magnet synchronous motor needs rotor synchronous with stator holding, otherwise will appear step-out failure.It loses Step failure can make compressor or blower can not work normally, and will lead to compressor or blower abrasion, or even damage for a long time.Cause How this, be effectively detected out the key issues that step-out failure is those skilled in the art's research.

In the prior art, permanent magnet synchronous motor can be by position Sensorless Control mode, according to the electricity of motor Stream and voltage etc. estimate the position of rotor, to guarantee its operating according to the position.But there is step-out in permanent magnet synchronous motor In the case where failure, since electric current and voltage of the step-out failure to motor do not have much affect, so that the position of the rotor estimated It sets and there will not be obvious exception, lead to not detect step-out failure in this way.

Summary of the invention

The present invention provides a kind of detection method and device of permanent magnet synchronous motor step-out, solves using position-sensor-free Control mode can not detect the problem of step-out failure.

In order to achieve the above objectives, the present invention adopts the following technical scheme:

In a first aspect, the present invention provides a kind of detection method of permanent magnet synchronous motor step-out, this method may include: use Position Sensorless Control mode obtains counter electromotive force;Counter electromotive force is that the rotor field of permanent magnet synchronous motor is cut in rotation The voltage that magnetic induction line generates;Computations voltage;Command voltage is the virtual voltage for inputting permanent magnet synchronous motor;According to anti-electronic Gesture and command voltage determine that step-out failure occurs for permanent magnet synchronous motor;Permanent magnet synchronous motor is controlled to shut down.

With reference to first aspect, in one possible implementation, according to counter electromotive force and command voltage, determine that permanent magnetism is same It walks motor and step-out failure occurs, specifically may include: that be less than or equal to first default for the difference of command voltage and counter electromotive force When threshold value, determine that step-out failure occurs for permanent magnet synchronous motor;Alternatively, the ratio of command voltage and counter electromotive force is less than or equal to the When two preset thresholds, determines and step-out failure occurs.

It is obtained anti-electronic in alternatively possible implementation with above-mentioned possible implementation with reference to first aspect Gesture specifically may include: to obtain the revolving speed of permanent magnet synchronous motor using position Sensorless Control mode;According to formula: E =Ke × ω calculates counter electromotive force;Wherein, E is counter electromotive force, and Ke is the back electromotive force constant prestored, and ω is permanent magnet synchronous electric The revolving speed of machine.

With reference to first aspect with above-mentioned possible implementation, in alternatively possible implementation, computations are electric Pressure specifically may include: the direct-axis voltage and quadrature-axis voltage for obtaining permanent magnet synchronous motor;According to formula: Computations voltage V, wherein Vd is direct-axis voltage, and Vq is quadrature-axis voltage.

Second aspect, the present invention provide a kind of detection device of permanent magnet synchronous motor step-out, permanent magnet synchronous motor step-out Detection device may include: acquiring unit, computing unit, determination unit and control unit.Wherein, acquiring unit, for using Position Sensorless Control mode obtains counter electromotive force;Counter electromotive force is that the rotor field of permanent magnet synchronous motor is cut in rotation The voltage that magnetic induction line generates;Computing unit is used for computations voltage;Command voltage is the practical electricity for inputting permanent magnet synchronous motor Pressure;Determination unit, for determining that step-out failure occurs for permanent magnet synchronous motor according to counter electromotive force and command voltage;Control unit, It is shut down for controlling permanent magnet synchronous motor.

In conjunction with second aspect, in one possible implementation, determination unit is specifically used for: command voltage and anti-electricity When the difference of kinetic potential is less than or equal to the first preset threshold, determine that step-out failure occurs for permanent magnet synchronous motor;Alternatively, command voltage When being less than or equal to the second preset threshold with the ratio of counter electromotive force, determines and step-out failure occurs.

In conjunction with second aspect and above-mentioned possible implementation, in alternatively possible implementation, acquiring unit, tool Body is used for: being used position Sensorless Control mode, is obtained the revolving speed of permanent magnet synchronous motor;According to formula: E=Ke × ω, meter Calculate counter electromotive force;Wherein, E is counter electromotive force, and Ke is the back electromotive force constant prestored, and ω is the revolving speed of permanent magnet synchronous motor.

In conjunction with second aspect and above-mentioned possible implementation, in alternatively possible implementation, computing unit, tool Body is used for: obtaining the direct-axis voltage and quadrature-axis voltage of permanent magnet synchronous motor;According to formula:Computations electricity Press V, wherein Vd is direct-axis voltage, and Vq is quadrature-axis voltage.

The permanent magnetism that concrete implementation mode can be provided with reference to the possible implementation of first aspect or first aspect is same Walk the behavioral function of the detection device of permanent magnet synchronous motor step-out in the detection method of motor desynchronizing.

The third aspect provides a kind of detection device of permanent magnet synchronous motor step-out, the detection of the permanent magnet synchronous motor step-out Device includes: at least one processor, memory, communication interface and communication bus.Processor passes through with memory, communication interface Communication bus connection, memory is for storing computer executed instructions, when the operation of the detection device of permanent magnet synchronous motor step-out, Processor executes the computer executed instructions of memory storage, so that the detection device of permanent magnet synchronous motor step-out executes such as first The detection method of the permanent magnet synchronous motor step-out of any one of the possible implementation of aspect or first aspect.

Fourth aspect provides a kind of computer storage medium, is stored thereon with computer executed instructions, when computer executes Instruction in the detection device of permanent magnet synchronous motor step-out when running, so that the detection device of permanent magnet synchronous motor step-out executes such as The detection method of the permanent magnet synchronous motor step-out of any one of the possible implementation of first aspect or first aspect.

The detection method of permanent magnet synchronous motor step-out provided by the invention passes through counter electromotive force and input permanent magnet synchronous motor Command voltage and control the motor stopping to determine that step-out failure occurs for permanent magnet synchronous motor.In this way, permanent magnet synchronous motor In the case that constant speed operates, since motor is after occurring step-out failure, the rotor of motor is in the state that swings back and forth, so that practical Counter electromotive force is smaller, but counter electromotive force of the invention is obtained using position Sensorless Control mode, step-out failure pair The position estimation of rotor does not influence, i.e., does not influence on the calculating of the revolving speed of rotor, so that being obtained using the control mode anti- Electromotive force is not practical counter electromotive force, and the counter electromotive force of acquisition is greater than the practical counter electromotive force under step-out failure, and due to instruction Voltage=practical counter electromotive force+electric motor resistance * current of electric, therefore actual instruction voltage is also smaller after step-out failure, the present invention In the command voltage that is calculated be virtual voltage, can be come by the relationship of actual instruction voltage and the counter electromotive force of acquisition true Determine whether motor occurs step-out failure, step-out event is capable of detecting when to realizing using position Sensorless Control mode Barrier.

Detailed description of the invention

Fig. 1 is a kind of composition schematic diagram of the detection device of permanent magnet synchronous motor step-out provided in an embodiment of the present invention;

Fig. 2 is a kind of flow chart of the detection method of permanent magnet synchronous motor step-out provided in an embodiment of the present invention;

Fig. 3 is the composition schematic diagram of the detection device of another permanent magnet synchronous motor step-out provided in an embodiment of the present invention;

Fig. 4 is the composition schematic diagram of the detection device of another permanent magnet synchronous motor step-out provided in an embodiment of the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Fig. 1 is a kind of composition schematic diagram of the detection device of permanent magnet synchronous motor step-out provided in an embodiment of the present invention, such as Shown in Fig. 1, the detection device of the permanent magnet synchronous motor step-out may include: at least one processor 11, memory 12, communication connect Mouth 13 and communication bus 14.

It is specifically introduced below with reference to each component parts of the Fig. 1 to the detection device of permanent magnet synchronous motor step-out:

Wherein, processor 11 is the control centre of the detection device of permanent magnet synchronous motor step-out, can be a processor, It is also possible to the general designation of multiple processing elements.For example, processor 11 is a central processing unit (Central Processing Unit, CPU), it is also possible to specific integrated circuit (Application Specific Integrated Circuit, ASIC), Or be arranged to implement one or more integrated circuits of the embodiment of the present invention, such as: at one or more digital signals It manages device (Digital Signal Processor, DSP), or, one or more field programmable gate array (Field Programmable Gate Array, FPGA).

In concrete implementation, as one embodiment, processor 11 may include one or more CPU, and example is as shown in figure 1 Shown in CPU0 and CPU1.And as one embodiment, the detection device of permanent magnet synchronous motor step-out may include multiple processing Device, such as processor 11 and processor 15 shown in Fig. 1.Each of these processors can be a single core processor (Single-CPU), it is also possible to a multi-core processor (Multi-CPU).Here processor can refer to that one or more is set Standby, circuit, and/or processing core for handling data (such as computer program instructions).

Memory 12 can be read-only memory (Read-Only Memory, ROM) or can store static information and instruction Other kinds of static storage device, random access memory (Random Access Memory, RAM) or letter can be stored The other kinds of dynamic memory of breath and instruction, is also possible to Electrically Erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact Disc Read- Only Memory, CD-ROM) or other optical disc storages, optical disc storage (including compression optical disc, laser disc, optical disc, digital universal Optical disc, Blu-ray Disc etc.), magnetic disk storage medium or other magnetic storage apparatus or can be used in carrying or store to have referring to Enable or data structure form desired program code and can by any other medium of computer access, but not limited to this. Memory 12, which can be, to be individually present, and is connected by communication bus 14 with processor 11.Memory 12 can also and processor 11 integrate.

In concrete implementation, memory 12, for storing the data in the present invention and executing software program of the invention. Processor 11 can be by running or execute the software program being stored in memory 12, and calls and be stored in memory 12 Data, execute permanent magnet synchronous motor step-out detection device various functions.

Communication interface 13, using the device of any transceiver one kind, for other equipment or communication, such as nothing Line access (Radio Access Network, RAN), WLAN (Wireless Local Area Networks, WLAN) etc..Communication interface 13 may include that receiving unit realizes that receive capabilities and transmission unit realize sending function.

Communication bus 14 can be industry standard architecture (Industry Standard Architecture, ISA) Bus, external equipment interconnection (Peripheral Component Interconnect, PCI) bus or extension industrial standard body Architecture (Extended lndustry Standard Architecture, EISA) bus etc..The bus can be divided into address Bus, data/address bus, control bus etc..Only to be indicated with a thick line in Fig. 1, it is not intended that only one convenient for indicating Bus or a type of bus.

It should be noted that in embodiments of the present invention, the detection device of permanent magnet synchronous motor step-out can become for direct current Frequency air-conditioning, the detection method of permanent magnet synchronous motor step-out can be used for detecting the compressor that air-conditioning includes or whether blower loses Walk failure.

In order to solve the problems, such as can not to detect step-out failure, the embodiment of the present invention using position Sensorless Control mode A kind of detection method of permanent magnet synchronous motor step-out is provided, in the scene applied to the operating of permanent magnet synchronous motor constant speed.Such as Fig. 2 Shown, this method may include:

201, counter electromotive force is obtained using position Sensorless Control mode.

Wherein, counter electromotive force is the rotor field voltage that cutting magnetic induction line generates in rotation of permanent magnet synchronous motor.Forever The detection device of magnetic-synchro motor desynchronizing can use position Sensorless Control mode, be obtained according to the voltage and current of motor The revolving speed of motor, and according to formula: E=Ke × ω calculates counter electromotive force E;Wherein, Ke is the back electromotive force constant prestored, ω Back electromotive force constant for the revolving speed of permanent magnet synchronous motor, and different motors is different, therefore can be according to the type of motor Number back electromotive force constant is stored in corresponding device in advance.Alternatively, the detection device of permanent magnet synchronous motor step-out can also be straight It connects according to motor and voltage and current, obtains counter electromotive force.

It should be noted that in embodiments of the present invention, permanent magnet synchronous motor is after occurring step-out failure, the rotor of motor There is no rotations, but in the state that swings back and forth, the revolving speed of rotor is smaller so that practical counter electromotive force is smaller.It is obtained in the present invention Position Sensorless Control mode is used when negating electromotive force, since step-out failure does not influence the position estimation of rotor, And then it obtains and the revolving speed of motor is calculated also without influence, therefore rotor can not be reflected using the revolving speed that the control mode obtains Virtual condition, that is to say, that the counter electromotive force of acquisition is not practical counter electromotive force.Motor occur step-out failure under, acquisition it is anti- Electromotive force is greater than practical counter electromotive force.

202, computations voltage.

Wherein, command voltage is the virtual voltage for inputting permanent magnet synchronous motor, and be harmonious in motor with field axis The referred to as longitudinal axis (being also d-axis or d axis), vertical with field axis is known as horizontal axis (being also quadrature axis or q axis).Permanent magnet synchronous motor The detection device of step-out can first obtain direct-axis voltage and quadrature-axis voltage, and according to formula:Computations Voltage V, wherein Vd is direct-axis voltage, and Vq is quadrature-axis voltage.

It should be noted that step 201 and step 202 have no successive execution relationship.

203, according to counter electromotive force and command voltage, determine that step-out failure occurs for permanent magnet synchronous motor.

Wherein, the detection device of permanent magnet synchronous motor step-out is in the counter electromotive force and reality for obtaining not reflecting actual conditions Command voltage after, can judge whether motor occurs step-out failure according to both sides relation.Due to actual instruction voltage and reality The relationship of border counter electromotive force are as follows: V=E+R*I.Wherein, V is actual instruction voltage, and E is practical counter electromotive force, and R is electric motor resistance, I is current of electric.It can be obtained by the formula, when motor works normally, practical counter electromotive force is larger, and actual instruction voltage is also larger, After step-out failure occurs for motor, practical counter electromotive force is smaller, and actual instruction voltage is also smaller, actual instruction voltage and practical anti-electricity Difference between kinetic potential can be in a preset range.

Based on this, motor can calculate the difference of actual instruction voltage Yu false counter electromotive force, if the normal work of motor Make, then difference within a preset range, if step-out failure occurs for motor, due to false counter electromotive force be greater than it is practical anti-electronic Gesture, so that difference reduces, therefore the detection device of permanent magnet synchronous motor step-out can be less than or equal to the determining the difference It when one preset threshold, determines that step-out failure occurs for motor, thereby executing following steps 204, otherwise can continue to keep operating.Or Person, the detection device of permanent magnet synchronous motor step-out can also the counter electromotive force for determining actual instruction voltage and acquisition ratio it is small When the second preset threshold, determines and step-out failure occurs.

It should be noted that in embodiments of the present invention, the first preset threshold and the second preset threshold can lead in advance Overtesting obtains reasonable value, and is stored in the detection device of permanent magnet synchronous motor step-out.

204, control permanent magnet synchronous motor is shut down.

The detection method of permanent magnet synchronous motor step-out provided by the invention passes through counter electromotive force and input permanent magnet synchronous motor Command voltage and control the motor stopping to determine that step-out failure occurs for permanent magnet synchronous motor.In this way, permanent magnet synchronous motor In the case that constant speed operates, since motor is after occurring step-out failure, the rotor of motor is in the state that swings back and forth, so that practical Counter electromotive force is smaller, but counter electromotive force of the invention is obtained using position Sensorless Control mode, step-out failure pair The position estimation of rotor does not influence, i.e., does not influence on the calculating of the revolving speed of rotor, so that being obtained using the control mode anti- Electromotive force is not practical counter electromotive force, and the counter electromotive force of acquisition is greater than the practical counter electromotive force under step-out failure, and due to instruction Voltage=practical counter electromotive force+electric motor resistance * current of electric, therefore actual instruction voltage is also smaller after step-out failure, the present invention In the command voltage that is calculated be virtual voltage, can be come by the relationship of actual instruction voltage and the counter electromotive force of acquisition true Determine whether motor occurs step-out failure, step-out event is capable of detecting when to realizing using position Sensorless Control mode Barrier.

It is above-mentioned mainly from the angle of the detection device of permanent magnet synchronous motor step-out to scheme provided in an embodiment of the present invention into Introduction is gone.It is understood that the detection device of permanent magnet synchronous motor step-out is in order to realize the above functions, it comprises execution The corresponding hardware configuration of each function and/or software module.Those skilled in the art should be readily appreciated that, in conjunction with herein Each exemplary algorithm steps of the disclosed embodiments description, the present invention can be with the combination of hardware or hardware and computer software Form is realized.Some functions is executed in a manner of hardware or computer software driving hardware actually, depends on technical side The specific application and design constraint of case.Professional technician can carry out each specific application to come using distinct methods real Existing described function, but such implementation should not be considered as beyond the scope of the present invention.

The embodiment of the present invention can carry out function according to detection device of the above method example to permanent magnet synchronous motor step-out The division of module, for example, each functional module of each function division can be corresponded to, it can also be by two or more functions It is integrated in a processing module.Above-mentioned integrated module both can take the form of hardware realization, can also use software function The form of energy module is realized.It should be noted that be to the division of module in the embodiment of the present invention it is schematical, it is only a kind of Logical function partition, there may be another division manner in actual implementation.

In the case where each function division of use correspondence each functional module, Fig. 3 is shown involved in above-described embodiment Permanent magnet synchronous motor step-out detection device alternatively possible composition schematic diagram, as shown in figure 3, the permanent magnet synchronous motor The detection device of step-out may include: acquiring unit 31, computing unit 32, determination unit 33 and control unit 34.

Wherein, acquiring unit 31, for supporting that it is same that the detection device of permanent magnet synchronous motor step-out executes permanent magnetism shown in Fig. 2 Walk the step 201 in the detection method of motor desynchronizing.

Computing unit 32, for supporting the detection device of permanent magnet synchronous motor step-out to execute permanent magnet synchronous electric shown in Fig. 2 Step 202 in the detection method of machine step-out.

Determination unit 33, for supporting the detection device of permanent magnet synchronous motor step-out to execute permanent magnet synchronous electric shown in Fig. 2 Step 203 in the detection method of machine step-out.

Control unit 34, for supporting the detection device of permanent magnet synchronous motor step-out to execute permanent magnet synchronous electric shown in Fig. 2 Step 204 in the detection method of machine step-out.

It should be noted that all related contents for each step that above method embodiment is related to can quote correspondence The function of functional module describes, and details are not described herein.

The detection device of permanent magnet synchronous motor step-out provided in an embodiment of the present invention, for executing above-mentioned permanent magnet synchronous motor The detection method of step-out, therefore can achieve effect identical with the detection method of above-mentioned permanent magnet synchronous motor step-out.

Using integrated unit, Fig. 4 shows the mistake of permanent magnet synchronous motor involved in above-described embodiment The alternatively possible composition schematic diagram of the detection device of step.As shown in figure 4, the detection device packet of the permanent magnet synchronous motor step-out It includes: processing module 41, communication module 42 and memory module 43.

Processing module 41 is used to carry out control management to the movement of the detection device of permanent magnet synchronous motor step-out, for example, place Reason module 41 for support the detection device of permanent magnet synchronous motor step-out execute the step 201 in Fig. 2, step 202, step 203, Step 204, and/or for techniques described herein other processes.Communication module 42 is for supporting permanent magnet synchronous motor to lose The detection device of step and the communication of other network entities.Memory module 43, the detection for storing permanent magnet synchronous motor step-out fill The program code and data set.

Wherein, processing module 41 can be the processor in Fig. 1.It, which may be implemented or executes, combines the disclosure of invention Described various illustrative logic blocks, module and circuit.Processor is also possible to realize the combination of computing function, such as It is combined comprising one or more microprocessors, DSP and the combination of microprocessor etc..Communication module 42 can be logical in Fig. 1 Believe interface.Memory module 43 can be the memory in Fig. 1.

Through the above description of the embodiments, it is apparent to those skilled in the art that, for description It is convenienct and succinct, only the example of the division of the above functional modules, in practical application, can according to need and will be upper It states function distribution to be completed by different functional modules, i.e., the internal structure of device is divided into different functional modules, to complete All or part of function described above.

In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the module or unit It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components It may be combined or can be integrated into another device, or some features can be ignored or not executed.Another point, it is shown or The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit It closes or communicates to connect, can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown can be a physical unit or multiple physical units, it can and it is in one place, or may be distributed over Multiple and different places.Some or all of unit therein can be selected to realize this embodiment scheme according to the actual needs Purpose.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.

If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product When, it can store in a read/write memory medium.Based on this understanding, the technical solution of the embodiment of the present invention is substantially The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words It embodies, which is stored in a storage medium, including some instructions are used so that an equipment (can be list Piece machine, chip etc.) or processor (processor) perform all or part of the steps of the method described in the various embodiments of the present invention. And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program code Medium.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Change or replacement in the technical scope disclosed by the present invention, should be covered by the protection scope of the present invention.Therefore, this hair Bright protection scope should be based on the protection scope of the described claims.

Claims (10)

1. a kind of detection method of permanent magnet synchronous motor step-out, which is characterized in that the described method includes:
Counter electromotive force is obtained using position Sensorless Control mode;The counter electromotive force is the rotor of the permanent magnet synchronous motor The magnetic field voltage that cutting magnetic induction line generates in rotation;
Computations voltage;Described instruction voltage is the virtual voltage for inputting the permanent magnet synchronous motor;
According to the counter electromotive force and described instruction voltage, determine that step-out failure occurs for the permanent magnet synchronous motor;
The permanent magnet synchronous motor is controlled to shut down.
2. the detection method of permanent magnet synchronous motor step-out according to claim 1, which is characterized in that described according to described anti- Electromotive force and described instruction voltage determine that step-out failure occurs for the permanent magnet synchronous motor, comprising:
When the difference of described instruction voltage and the counter electromotive force is less than or equal to the first preset threshold, the permanent-magnet synchronous is determined Step-out failure occurs for motor;
Alternatively, determination is lost when the ratio of described instruction voltage and the counter electromotive force is less than or equal to the second preset threshold Walk failure.
3. the detection method of permanent magnet synchronous motor step-out according to claim 1 or 2, which is characterized in that described to use nothing Position sensor control mode obtains counter electromotive force, comprising:
Using the position Sensorless Control mode, the revolving speed of the permanent magnet synchronous motor is obtained;
According to formula: E=Ke × ω calculates the counter electromotive force;Wherein, E be the counter electromotive force, Ke be prestore it is anti-electronic Potential constant, ω are the revolving speed of the permanent magnet synchronous motor.
4. the detection method of permanent magnet synchronous motor step-out according to claim 1 or 2, which is characterized in that the calculating refers to Enable voltage, comprising:
Obtain the direct-axis voltage and quadrature-axis voltage of the permanent magnet synchronous motor;
According to formula:Calculate described instruction voltage V, wherein Vd is the direct-axis voltage, and Vq is the friendship Shaft voltage.
5. a kind of detection device of permanent magnet synchronous motor step-out, which is characterized in that the detection of the permanent magnet synchronous motor step-out fills Set includes: acquiring unit, computing unit, determination unit and control unit;
The acquiring unit, for obtaining counter electromotive force using position Sensorless Control mode;The counter electromotive force is described The rotor field of the permanent magnet synchronous motor voltage that cutting magnetic induction line generates in rotation;
The computing unit is used for computations voltage;Described instruction voltage is the practical electricity for inputting the permanent magnet synchronous motor Pressure;
The determination unit, for determining that the permanent magnet synchronous motor occurs according to the counter electromotive force and described instruction voltage Step-out failure;
Described control unit is shut down for controlling the permanent magnet synchronous motor.
6. the detection device of permanent magnet synchronous motor step-out according to claim 5, which is characterized in that the determination unit, It is specifically used for:
When the difference of described instruction voltage and the counter electromotive force is less than or equal to the first preset threshold, the permanent-magnet synchronous is determined Step-out failure occurs for motor;
Alternatively, determination is lost when the ratio of described instruction voltage and the counter electromotive force is less than or equal to the second preset threshold Walk failure.
7. the detection device of permanent magnet synchronous motor step-out according to claim 5 or 6, which is characterized in that the acquisition is single Member is specifically used for:
Using the position Sensorless Control mode, the revolving speed of the permanent magnet synchronous motor is obtained;
According to formula: E=Ke × ω calculates the counter electromotive force;Wherein, E be the counter electromotive force, Ke be prestore it is anti-electronic Potential constant, ω are the revolving speed of the permanent magnet synchronous motor.
8. the detection device of permanent magnet synchronous motor step-out according to claim 5 or 6, which is characterized in that the calculating is single Member is specifically used for:
Obtain the direct-axis voltage and quadrature-axis voltage of the permanent magnet synchronous motor;
According to formula:Calculate described instruction voltage V, wherein Vd is the direct-axis voltage, and Vq is the friendship Shaft voltage.
9. a kind of detection device of permanent magnet synchronous motor step-out, which is characterized in that the detection of the permanent magnet synchronous motor step-out fills Set includes: processor, memory, communication interface and communication bus;
The processor is connect with the memory, the communication interface by the communication bus, and the memory is for depositing Computer executed instructions are stored up, when the operation of the detection device of the permanent magnet synchronous motor step-out, are deposited described in the processor execution The computer executed instructions of reservoir storage, so that the detection device of the permanent magnet synchronous motor step-out executes such as claim The detection method of permanent magnet synchronous motor step-out described in any one of 1-4.
10. a kind of computer storage medium, which is characterized in that the computer storage medium includes computer executed instructions, when The computer executed instructions in the detection device of permanent magnet synchronous motor step-out when running, so that the permanent magnet synchronous motor loses The detection device of step executes the detection method such as permanent magnet synchronous motor step-out of any of claims 1-4.
CN201910355059.5A 2019-04-29 2019-04-29 A kind of detection method and device of permanent magnet synchronous motor step-out CN110022099A (en)

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Application Number Priority Date Filing Date Title
CN201910355059.5A CN110022099A (en) 2019-04-29 2019-04-29 A kind of detection method and device of permanent magnet synchronous motor step-out

Applications Claiming Priority (1)

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EP2110942A2 (en) * 2008-04-11 2009-10-21 Minebea Co., Ltd. Method of detecting state of synchronization loss in stepping motor
CN101854144A (en) * 2009-03-31 2010-10-06 半导体元件工业有限责任公司 Method for detecting a step loss condition
CN106533279A (en) * 2016-11-18 2017-03-22 广州视源电子科技股份有限公司 Out-of-step detection method and out-of-step detection device of synchronous motor
CN109039175A (en) * 2018-07-09 2018-12-18 上海肖可雷电子科技有限公司 A kind of permanent magnet synchronous motor detection of loss of mains and guard method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2110942A2 (en) * 2008-04-11 2009-10-21 Minebea Co., Ltd. Method of detecting state of synchronization loss in stepping motor
CN101854144A (en) * 2009-03-31 2010-10-06 半导体元件工业有限责任公司 Method for detecting a step loss condition
CN106533279A (en) * 2016-11-18 2017-03-22 广州视源电子科技股份有限公司 Out-of-step detection method and out-of-step detection device of synchronous motor
CN109039175A (en) * 2018-07-09 2018-12-18 上海肖可雷电子科技有限公司 A kind of permanent magnet synchronous motor detection of loss of mains and guard method

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